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<a href="fcl__collision__checker_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * fcl_collision_checker.h</span></div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Created on: Oct 5, 2018</span></div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Author: Vitaliy Rusinov</span></div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> */</span></div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;</div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#ifndef CPP_COLLISION_FCL_FCL_COLLISION_CHECKER_H_</span></div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="preprocessor">#define CPP_COLLISION_FCL_FCL_COLLISION_CHECKER_H_</span></div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;</div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="application_8h.html">collision/application.h</a>&quot;</span></div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;</div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="preprocessor">#include &lt;sstream&gt;</span></div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="preprocessor">#include &lt;vector&gt;</span></div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;</div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="primitive__collision__checker_8h.html">collision/primitive_collision_checker.h</a>&quot;</span></div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;</div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="collision__object_8h.html">collision/collision_object.h</a>&quot;</span></div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;</div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="rectangle__aabb_8h.html">collision/narrowphase/rectangle_aabb.h</a>&quot;</span></div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;</div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="fcl__collision__object__group_8h.html">collision/solvers/fcl/fcl_collision_object_group.h</a>&quot;</span></div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="fcl__collision__requests_8h.html">collision/solvers/fcl/fcl_collision_requests.h</a>&quot;</span></div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="fcl__decl_8h.html">collision/solvers/fcl/fcl_decl.h</a>&quot;</span></div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="preprocessor">#include &lt;fcl/broadphase/broadphase_dynamic_AABB_tree.h&gt;</span></div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;</div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="i__collision__checker_8h.html">collision/i_collision_checker.h</a>&quot;</span></div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;</div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespacecollision.html">collision</a> {</div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="keyword">class </span>CollisionChecker;</div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;</div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="keyword">namespace </span>solvers {</div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="keyword">namespace </span>solverFCL {</div><div class="line"><a name="l00034"></a><span class="lineno"><a class="line" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html">   34</a></span>&#160;<span class="keyword">class </span><a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html">FCLCollisionChecker</a> {</div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="keyword">public</span>:</div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;  EIGEN_MAKE_ALIGNED_OPERATOR_NEW</div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;  <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#a7031ed219463c7ce45f6dcb1652f9a4c">FCLCollisionChecker</a>(<a class="code" href="classcollision_1_1_i_collision_checker.html">ICollisionChecker</a> &amp;cc);</div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;</div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#a40d1b64cd06786b2c828e995937cddae">addCollisionObject</a>(<a class="code" href="namespacecollision.html#a405f2c04407997fea529aad88f04ad30">CollisionObjectConstPtr</a> co);</div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#ae35b8d368c6529a86d073ab7d7c45f20">windowQuery_helper</a>(<span class="keyword">const</span> <a class="code" href="classcollision_1_1_rectangle_a_a_b_b.html">RectangleAABB</a> &amp;aabb,</div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;                          <a class="code" href="classcollision_1_1_i_collision_checker.html">ICollisionChecker</a> &amp;ret) <span class="keyword">const</span>;</div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;  <span class="keywordtype">bool</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#a5088bcb0c1f882a9bbba06b3f186e2e0">collideHelper</a>(<a class="code" href="namespacecollision.html#a405f2c04407997fea529aad88f04ad30">CollisionObjectConstPtr</a> co, <span class="keywordtype">int</span> *collision_time,</div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;                     std::vector&lt;CollisionObjectConstPtr&gt; *obstacles,</div><div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;                     <span class="keywordtype">int</span> max_obstacles = -1, <span class="keywordtype">bool</span> ungroup_shape_groups = <span class="keyword">false</span>,</div><div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;                     <span class="keywordtype">bool</span> ungroup_TV_obstacles = <span class="keyword">false</span>) <span class="keyword">const</span>;</div><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;</div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="keyword">protected</span>:</div><div class="line"><a name="l00048"></a><span class="lineno"><a class="line" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#a45600abe57714dcc84d81b0128f32c87">   48</a></span>&#160;  <a class="code" href="classcollision_1_1_i_collision_checker.html">ICollisionChecker</a> &amp;<a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#a45600abe57714dcc84d81b0128f32c87">m_cc</a>;</div><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;</div><div class="line"><a name="l00050"></a><span class="lineno"><a class="line" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#ad1077e89cdc78888b6effdc61bfdca1f">   50</a></span>&#160;  <span class="keyword">enum</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#ad1077e89cdc78888b6effdc61bfdca1f">CollisionRequestType</a> {</div><div class="line"><a name="l00051"></a><span class="lineno"><a class="line" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#ad1077e89cdc78888b6effdc61bfdca1faba2c240bbbd6cbb3a37e7f6868758a0f">   51</a></span>&#160;    <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#ad1077e89cdc78888b6effdc61bfdca1faba2c240bbbd6cbb3a37e7f6868758a0f">collisionRequestBoolean</a> = 0,</div><div class="line"><a name="l00052"></a><span class="lineno"><a class="line" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#ad1077e89cdc78888b6effdc61bfdca1fa7951ce6eed0c582c9d907781e2103445">   52</a></span>&#160;    <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#ad1077e89cdc78888b6effdc61bfdca1fa7951ce6eed0c582c9d907781e2103445">collisionRequestListOfObstacles</a> = 1,</div><div class="line"><a name="l00053"></a><span class="lineno"><a class="line" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#ad1077e89cdc78888b6effdc61bfdca1fae460067c4a8c8ec042bb6ae25e250856">   53</a></span>&#160;    <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#ad1077e89cdc78888b6effdc61bfdca1fae460067c4a8c8ec042bb6ae25e250856">collisionRequestWindowQuery</a> = 2</div><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;</div><div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;  };</div><div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;</div><div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#a05728517e6bead9a3cf3ca65df2e6870">invalidateParentMap</a>(<span class="keywordtype">void</span>);</div><div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#a118ace8a12ff598bb746b0ea07f31b88">setUpParentMap</a>(<span class="keywordtype">void</span>) <span class="keyword">const</span>;</div><div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;</div><div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#aed9981d09bd9d5871918a43fa46b387d">invalidateStaticObstaclesManager</a>(<span class="keywordtype">void</span>);</div><div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#a620d2d96bfb91c7eb67d175fecc8096f">setUpStaticObstaclesManager</a>(<span class="keywordtype">void</span>) <span class="keyword">const</span>;</div><div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;</div><div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;  <span class="keywordtype">int</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#ab8f47f4ae8609204c03694d362dab780">set_up_dynamic_obstacles</a>(<span class="keywordtype">int</span> simulation_cur_time_idx_) <span class="keyword">const</span>;</div><div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;  <span class="keywordtype">int</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#a06d04daf90ad23bbc52d215bf8cb574b">register_dynamic_obstacle</a>(<span class="keyword">const</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object_group.html">FCLCollisionObjectGroup</a> *obj) <span class="keyword">const</span>;</div><div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;  <span class="keywordtype">int</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#a06d04daf90ad23bbc52d215bf8cb574b">register_dynamic_obstacle</a>(<span class="keyword">const</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object.html">FCLCollisionObject</a> *obj) <span class="keyword">const</span>;</div><div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;</div><div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;  <span class="keywordtype">int</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#aa677f101d44d78cddb730bd10b94fbab">addCollisionObject_fcl</a>(<span class="keyword">const</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object.html">FCLCollisionObject</a> *co);</div><div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;  <span class="keywordtype">int</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#aa677f101d44d78cddb730bd10b94fbab">addCollisionObject_fcl</a>(<span class="keyword">const</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object_group.html">FCLCollisionObjectGroup</a> *co);</div><div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#aa677f101d44d78cddb730bd10b94fbab">addCollisionObject_fcl</a>(<span class="keyword">const</span> <a class="code" href="classcollision_1_1_time_variant_collision_object.html">TimeVariantCollisionObject</a> *tvobj);</div><div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;</div><div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;  <span class="keywordtype">bool</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#a6ca16d35a48be5abcb1fb17f866e8c22">collide_fcl</a>(<span class="keyword">const</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object.html">FCLCollisionObject</a> *col_obj_ptr,</div><div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;                   <span class="keywordtype">int</span> &amp;time_of_collision,</div><div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;                   <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles.html">CollisionRequestDataMultipleObstacles</a> &amp;reqData) <span class="keyword">const</span>;</div><div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;  <span class="keywordtype">bool</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#a6ca16d35a48be5abcb1fb17f866e8c22">collide_fcl</a>(<span class="keyword">const</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object_group.html">FCLCollisionObjectGroup</a> *col_obj_group,</div><div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;                   <span class="keywordtype">int</span> &amp;time_of_collision,</div><div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;                   <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles.html">CollisionRequestDataMultipleObstacles</a> &amp;reqData) <span class="keyword">const</span>;</div><div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;</div><div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;  <span class="keywordtype">bool</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#a6ca16d35a48be5abcb1fb17f866e8c22">collide_fcl</a>(<span class="keyword">const</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object_group.html">FCLCollisionObjectGroup</a> *,</div><div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;                   <span class="keywordtype">int</span> &amp;time_of_collision) <span class="keyword">const</span>;</div><div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;  <span class="keywordtype">bool</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#a6ca16d35a48be5abcb1fb17f866e8c22">collide_fcl</a>(<span class="keyword">const</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object.html">FCLCollisionObject</a> *col_obj_ptr,</div><div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;                   <span class="keywordtype">int</span> &amp;time_of_collision) <span class="keyword">const</span>;</div><div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;</div><div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;  <span class="keywordtype">bool</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#a6ca16d35a48be5abcb1fb17f866e8c22">collide_fcl</a>(<span class="keyword">const</span> <a class="code" href="classcollision_1_1_time_variant_collision_object.html">TimeVariantCollisionObject</a> *tvobj,</div><div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;                   <span class="keywordtype">int</span> &amp;time_of_collision) <span class="keyword">const</span>;</div><div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;  <span class="keywordtype">bool</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#a6ca16d35a48be5abcb1fb17f866e8c22">collide_fcl</a>(<span class="keyword">const</span> <a class="code" href="classcollision_1_1_time_variant_collision_object.html">TimeVariantCollisionObject</a> *tvobj,</div><div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;                   <span class="keywordtype">int</span> &amp;time_of_collision,</div><div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;                   <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles.html">CollisionRequestDataMultipleObstacles</a> &amp;reqData) <span class="keyword">const</span>;</div><div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;</div><div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">class</span> T&gt;</div><div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;  <span class="keywordtype">bool</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#a446ec1583c17706392b23fdfc1853fe8">collide_fcl_helper_simulate_static_subject</a>(</div><div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;      T col_entity, <span class="keywordtype">int</span> &amp;time_of_collision,</div><div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;      <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#ad1077e89cdc78888b6effdc61bfdca1f">CollisionRequestType</a> reqType = <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#ad1077e89cdc78888b6effdc61bfdca1faba2c240bbbd6cbb3a37e7f6868758a0f">collisionRequestBoolean</a>,</div><div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;      <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data.html">CollisionRequestData</a> *reqData = 0) <span class="keyword">const</span>;</div><div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;  <span class="keywordtype">bool</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#a5f3a7a51c36c0772876379ff2cf778af">collide_fcl_helper_sim_TV_subject</a>(</div><div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;      <span class="keyword">const</span> <a class="code" href="classcollision_1_1_time_variant_collision_object.html">TimeVariantCollisionObject</a> &amp;tvobj, <span class="keywordtype">int</span> &amp;time_of_collision,</div><div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;      <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#ad1077e89cdc78888b6effdc61bfdca1f">CollisionRequestType</a> reqType, <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data.html">CollisionRequestData</a> *reqData) <span class="keyword">const</span>;</div><div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">class</span> T&gt;</div><div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;  <span class="keywordtype">bool</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#a25052a90e2c8b9071d92a2be814ade7d">collide_fcl_helper_dynamic_obstaclesEx</a>(</div><div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;      T col_entity, <span class="keywordtype">int</span> sim_cur_time_idx, <span class="keywordtype">bool</span> &amp;result,</div><div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;      <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#ad1077e89cdc78888b6effdc61bfdca1f">CollisionRequestType</a> reqType, <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data.html">CollisionRequestData</a> *reqData) <span class="keyword">const</span>;</div><div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">class</span> T&gt;</div><div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;  <span class="keywordtype">bool</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#a12658171ee505d64dc3be58e0cfa6108">collide_fcl_helper_dynamic_obstacles</a>(T col_entity,</div><div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;                                            <span class="keywordtype">int</span> sim_cur_time_idx) <span class="keyword">const</span>;</div><div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">class</span> T&gt;</div><div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;  <span class="keywordtype">bool</span></div><div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;  <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#a8bbce00ec170f5aa3bcbc66bed84a5c5">collide_fcl_helper_static_obstaclesEx</a>(T col_entity, <span class="keywordtype">bool</span> &amp;result,</div><div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;                                        <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#ad1077e89cdc78888b6effdc61bfdca1f">CollisionRequestType</a> reqType,</div><div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;                                        <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data.html">CollisionRequestData</a> *reqData) <span class="keyword">const</span>;</div><div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;</div><div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">class</span> T&gt;</div><div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;  <span class="keywordtype">bool</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#a217934a11ff2c3e0605d8ec614b33bc8">collide_fcl_helper_static_obstacles</a>(T col_entity) <span class="keyword">const</span>;</div><div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;</div><div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;<span class="keyword">private</span>:</div><div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;  <span class="keyword">mutable</span> std::unordered_map&lt;<span class="keyword">const</span> <a class="code" href="classcollision_1_1_collision_object.html">CollisionObject</a> *,</div><div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;                             std::list&lt;CollisionObjectConstPtr&gt;&gt;</div><div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;      parent_map;</div><div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;  <span class="keyword">mutable</span> fcl::DynamicAABBTreeCollisionManager&lt;FCL_PRECISION&gt; static_obstacles_;</div><div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;  <span class="keyword">mutable</span> fcl::DynamicAABBTreeCollisionManager&lt;FCL_PRECISION&gt;</div><div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;      dynamic_obstacles_;</div><div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;  std::vector&lt;CollisionObjectConstPtr&gt; tv_objects_;</div><div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;  <span class="keyword">mutable</span> <span class="keywordtype">int</span> simulation_time_start_idx_;</div><div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;  <span class="keyword">mutable</span> <span class="keywordtype">int</span> simulation_time_end_idx_;</div><div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;  <span class="keyword">mutable</span> <span class="keywordtype">int</span> simulation_dynamic_;</div><div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;  <span class="keyword">mutable</span> <span class="keywordtype">bool</span> static_obstacles_manager_valid;</div><div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;  <span class="keyword">mutable</span> <span class="keywordtype">bool</span> parent_map_valid;</div><div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;</div><div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;  <span class="keyword">mutable</span> <span class="keywordtype">bool</span> windowQueryDone;</div><div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;};</div><div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;} <span class="comment">// namespace solverFCL</span></div><div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;} <span class="comment">// namespace solvers</span></div><div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;} <span class="comment">// namespace collision</span></div><div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;</div><div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;<span class="preprocessor">#endif </span><span class="comment">/* CPP_COLLISION_FCL_FCL_COLLISION_CHECKER_H_ */</span><span class="preprocessor"></span></div><div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker_html_a06d04daf90ad23bbc52d215bf8cb574b"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#a06d04daf90ad23bbc52d215bf8cb574b">collision::solvers::solverFCL::FCLCollisionChecker::register_dynamic_obstacle</a></div><div class="ttdeci">int register_dynamic_obstacle(const FCLCollisionObjectGroup *obj) const</div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__checker_8cc_source.html#l00168">fcl_collision_checker.cc:168</a></div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker_html_a217934a11ff2c3e0605d8ec614b33bc8"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#a217934a11ff2c3e0605d8ec614b33bc8">collision::solvers::solverFCL::FCLCollisionChecker::collide_fcl_helper_static_obstacles</a></div><div class="ttdeci">bool collide_fcl_helper_static_obstacles(T col_entity) const</div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__checker_8cc_source.html#l00659">fcl_collision_checker.cc:659</a></div></div>
<div class="ttc" id="classcollision_1_1_time_variant_collision_object_html"><div class="ttname"><a href="classcollision_1_1_time_variant_collision_object.html">collision::TimeVariantCollisionObject</a></div><div class="ttdoc">TimeVariantCollisionObject can contain a different CollisionObject or ShapeGroup at each time step.</div><div class="ttdef"><b>Definition:</b> <a href="time__variant__collision__object_8h_source.html#l00021">time_variant_collision_object.h:21</a></div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker_html_a620d2d96bfb91c7eb67d175fecc8096f"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#a620d2d96bfb91c7eb67d175fecc8096f">collision::solvers::solverFCL::FCLCollisionChecker::setUpStaticObstaclesManager</a></div><div class="ttdeci">void setUpStaticObstaclesManager(void) const</div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__checker_8cc_source.html#l00123">fcl_collision_checker.cc:123</a></div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object_group_html"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object_group.html">collision::solvers::solverFCL::FCLCollisionObjectGroup</a></div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__object__group_8h_source.html#l00027">fcl_collision_object_group.h:27</a></div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker_html_a45600abe57714dcc84d81b0128f32c87"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#a45600abe57714dcc84d81b0128f32c87">collision::solvers::solverFCL::FCLCollisionChecker::m_cc</a></div><div class="ttdeci">ICollisionChecker &amp; m_cc</div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__checker_8h_source.html#l00048">fcl_collision_checker.h:48</a></div></div>
<div class="ttc" id="application_8h_html"><div class="ttname"><a href="application_8h.html">application.h</a></div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker_html_a5088bcb0c1f882a9bbba06b3f186e2e0"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#a5088bcb0c1f882a9bbba06b3f186e2e0">collision::solvers::solverFCL::FCLCollisionChecker::collideHelper</a></div><div class="ttdeci">bool collideHelper(CollisionObjectConstPtr co, int *collision_time, std::vector&lt; CollisionObjectConstPtr &gt; *obstacles, int max_obstacles=-1, bool ungroup_shape_groups=false, bool ungroup_TV_obstacles=false) const</div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__checker_8cc_source.html#l00190">fcl_collision_checker.cc:190</a></div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object_html"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object.html">collision::solvers::solverFCL::FCLCollisionObject</a></div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__object_8h_source.html#l00027">fcl_collision_object.h:27</a></div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker_html_aed9981d09bd9d5871918a43fa46b387d"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#aed9981d09bd9d5871918a43fa46b387d">collision::solvers::solverFCL::FCLCollisionChecker::invalidateStaticObstaclesManager</a></div><div class="ttdeci">void invalidateStaticObstaclesManager(void)</div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__checker_8cc_source.html#l00119">fcl_collision_checker.cc:119</a></div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker_html_ab8f47f4ae8609204c03694d362dab780"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#ab8f47f4ae8609204c03694d362dab780">collision::solvers::solverFCL::FCLCollisionChecker::set_up_dynamic_obstacles</a></div><div class="ttdeci">int set_up_dynamic_obstacles(int simulation_cur_time_idx_) const</div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__checker_8cc_source.html#l00130">fcl_collision_checker.cc:130</a></div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker_html_ae35b8d368c6529a86d073ab7d7c45f20"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#ae35b8d368c6529a86d073ab7d7c45f20">collision::solvers::solverFCL::FCLCollisionChecker::windowQuery_helper</a></div><div class="ttdeci">void windowQuery_helper(const RectangleAABB &amp;aabb, ICollisionChecker &amp;ret) const</div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__checker_8cc_source.html#l00268">fcl_collision_checker.cc:268</a></div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker_html_a25052a90e2c8b9071d92a2be814ade7d"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#a25052a90e2c8b9071d92a2be814ade7d">collision::solvers::solverFCL::FCLCollisionChecker::collide_fcl_helper_dynamic_obstaclesEx</a></div><div class="ttdeci">bool collide_fcl_helper_dynamic_obstaclesEx(T col_entity, int sim_cur_time_idx, bool &amp;result, CollisionRequestType reqType, CollisionRequestData *reqData) const</div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__checker_8cc_source.html#l00548">fcl_collision_checker.cc:548</a></div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker_html_a8bbce00ec170f5aa3bcbc66bed84a5c5"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#a8bbce00ec170f5aa3bcbc66bed84a5c5">collision::solvers::solverFCL::FCLCollisionChecker::collide_fcl_helper_static_obstaclesEx</a></div><div class="ttdeci">bool collide_fcl_helper_static_obstaclesEx(T col_entity, bool &amp;result, CollisionRequestType reqType, CollisionRequestData *reqData) const</div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__checker_8cc_source.html#l00614">fcl_collision_checker.cc:614</a></div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles_html"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles.html">collision::solvers::solverFCL::CollisionRequestDataMultipleObstacles</a></div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__requests_8h_source.html#l00035">fcl_collision_requests.h:35</a></div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker_html_a5f3a7a51c36c0772876379ff2cf778af"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#a5f3a7a51c36c0772876379ff2cf778af">collision::solvers::solverFCL::FCLCollisionChecker::collide_fcl_helper_sim_TV_subject</a></div><div class="ttdeci">bool collide_fcl_helper_sim_TV_subject(const TimeVariantCollisionObject &amp;tvobj, int &amp;time_of_collision, CollisionRequestType reqType, CollisionRequestData *reqData) const</div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__checker_8cc_source.html#l00394">fcl_collision_checker.cc:394</a></div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker_html_a7031ed219463c7ce45f6dcb1652f9a4c"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#a7031ed219463c7ce45f6dcb1652f9a4c">collision::solvers::solverFCL::FCLCollisionChecker::FCLCollisionChecker</a></div><div class="ttdeci">EIGEN_MAKE_ALIGNED_OPERATOR_NEW FCLCollisionChecker(ICollisionChecker &amp;cc)</div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__checker_8cc_source.html#l00015">fcl_collision_checker.cc:15</a></div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker_html_a12658171ee505d64dc3be58e0cfa6108"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#a12658171ee505d64dc3be58e0cfa6108">collision::solvers::solverFCL::FCLCollisionChecker::collide_fcl_helper_dynamic_obstacles</a></div><div class="ttdeci">bool collide_fcl_helper_dynamic_obstacles(T col_entity, int sim_cur_time_idx) const</div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__checker_8cc_source.html#l00597">fcl_collision_checker.cc:597</a></div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker_html"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html">collision::solvers::solverFCL::FCLCollisionChecker</a></div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__checker_8h_source.html#l00034">fcl_collision_checker.h:34</a></div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker_html_ad1077e89cdc78888b6effdc61bfdca1fa7951ce6eed0c582c9d907781e2103445"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#ad1077e89cdc78888b6effdc61bfdca1fa7951ce6eed0c582c9d907781e2103445">collision::solvers::solverFCL::FCLCollisionChecker::collisionRequestListOfObstacles</a></div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__checker_8h_source.html#l00052">fcl_collision_checker.h:52</a></div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker_html_aa677f101d44d78cddb730bd10b94fbab"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#aa677f101d44d78cddb730bd10b94fbab">collision::solvers::solverFCL::FCLCollisionChecker::addCollisionObject_fcl</a></div><div class="ttdeci">int addCollisionObject_fcl(const FCLCollisionObject *co)</div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__checker_8cc_source.html#l00089">fcl_collision_checker.cc:89</a></div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker_html_a118ace8a12ff598bb746b0ea07f31b88"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#a118ace8a12ff598bb746b0ea07f31b88">collision::solvers::solverFCL::FCLCollisionChecker::setUpParentMap</a></div><div class="ttdeci">void setUpParentMap(void) const</div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__checker_8cc_source.html#l00027">fcl_collision_checker.cc:27</a></div></div>
<div class="ttc" id="fcl__collision__requests_8h_html"><div class="ttname"><a href="fcl__collision__requests_8h.html">fcl_collision_requests.h</a></div></div>
<div class="ttc" id="namespacecollision_html_a405f2c04407997fea529aad88f04ad30"><div class="ttname"><a href="namespacecollision.html#a405f2c04407997fea529aad88f04ad30">collision::CollisionObjectConstPtr</a></div><div class="ttdeci">std::shared_ptr&lt; const CollisionObject &gt; CollisionObjectConstPtr</div><div class="ttdef"><b>Definition:</b> <a href="collision__object_8h_source.html#l00041">collision_object.h:41</a></div></div>
<div class="ttc" id="namespacecollision_html"><div class="ttname"><a href="namespacecollision.html">collision</a></div><div class="ttdef"><b>Definition:</b> <a href="collision__checker_8h_source.html#l00020">collision_checker.h:20</a></div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker_html_a40d1b64cd06786b2c828e995937cddae"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#a40d1b64cd06786b2c828e995937cddae">collision::solvers::solverFCL::FCLCollisionChecker::addCollisionObject</a></div><div class="ttdeci">void addCollisionObject(CollisionObjectConstPtr co)</div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__checker_8cc_source.html#l00039">fcl_collision_checker.cc:39</a></div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker_html_ad1077e89cdc78888b6effdc61bfdca1f"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#ad1077e89cdc78888b6effdc61bfdca1f">collision::solvers::solverFCL::FCLCollisionChecker::CollisionRequestType</a></div><div class="ttdeci">CollisionRequestType</div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__checker_8h_source.html#l00050">fcl_collision_checker.h:50</a></div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker_html_a446ec1583c17706392b23fdfc1853fe8"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#a446ec1583c17706392b23fdfc1853fe8">collision::solvers::solverFCL::FCLCollisionChecker::collide_fcl_helper_simulate_static_subject</a></div><div class="ttdeci">bool collide_fcl_helper_simulate_static_subject(T col_entity, int &amp;time_of_collision, CollisionRequestType reqType=collisionRequestBoolean, CollisionRequestData *reqData=0) const</div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__checker_8cc_source.html#l00506">fcl_collision_checker.cc:506</a></div></div>
<div class="ttc" id="fcl__collision__object__group_8h_html"><div class="ttname"><a href="fcl__collision__object__group_8h.html">fcl_collision_object_group.h</a></div></div>
<div class="ttc" id="fcl__decl_8h_html"><div class="ttname"><a href="fcl__decl_8h.html">fcl_decl.h</a></div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker_html_ad1077e89cdc78888b6effdc61bfdca1fae460067c4a8c8ec042bb6ae25e250856"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#ad1077e89cdc78888b6effdc61bfdca1fae460067c4a8c8ec042bb6ae25e250856">collision::solvers::solverFCL::FCLCollisionChecker::collisionRequestWindowQuery</a></div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__checker_8h_source.html#l00053">fcl_collision_checker.h:53</a></div></div>
<div class="ttc" id="i__collision__checker_8h_html"><div class="ttname"><a href="i__collision__checker_8h.html">i_collision_checker.h</a></div></div>
<div class="ttc" id="primitive__collision__checker_8h_html"><div class="ttname"><a href="primitive__collision__checker_8h.html">primitive_collision_checker.h</a></div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_html"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data.html">collision::solvers::solverFCL::CollisionRequestData</a></div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__requests_8h_source.html#l00033">fcl_collision_requests.h:33</a></div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker_html_ad1077e89cdc78888b6effdc61bfdca1faba2c240bbbd6cbb3a37e7f6868758a0f"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#ad1077e89cdc78888b6effdc61bfdca1faba2c240bbbd6cbb3a37e7f6868758a0f">collision::solvers::solverFCL::FCLCollisionChecker::collisionRequestBoolean</a></div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__checker_8h_source.html#l00051">fcl_collision_checker.h:51</a></div></div>
<div class="ttc" id="classcollision_1_1_rectangle_a_a_b_b_html"><div class="ttname"><a href="classcollision_1_1_rectangle_a_a_b_b.html">collision::RectangleAABB</a></div><div class="ttdoc">Axis-aligned rectangle.</div><div class="ttdef"><b>Definition:</b> <a href="rectangle__aabb_8h_source.html#l00018">rectangle_aabb.h:18</a></div></div>
<div class="ttc" id="classcollision_1_1_i_collision_checker_html"><div class="ttname"><a href="classcollision_1_1_i_collision_checker.html">collision::ICollisionChecker</a></div><div class="ttdoc">External interface to a CollisionChecker (with or without an acceleration structure)</div><div class="ttdef"><b>Definition:</b> <a href="i__collision__checker_8h_source.html#l00022">i_collision_checker.h:22</a></div></div>
<div class="ttc" id="rectangle__aabb_8h_html"><div class="ttname"><a href="rectangle__aabb_8h.html">rectangle_aabb.h</a></div></div>
<div class="ttc" id="collision__object_8h_html"><div class="ttname"><a href="collision__object_8h.html">collision_object.h</a></div></div>
<div class="ttc" id="classcollision_1_1_collision_object_html"><div class="ttname"><a href="classcollision_1_1_collision_object.html">collision::CollisionObject</a></div><div class="ttdoc">Base class for CollisionObjects and some of their groups.</div><div class="ttdef"><b>Definition:</b> <a href="collision__object_8h_source.html#l00047">collision_object.h:47</a></div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker_html_a6ca16d35a48be5abcb1fb17f866e8c22"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#a6ca16d35a48be5abcb1fb17f866e8c22">collision::solvers::solverFCL::FCLCollisionChecker::collide_fcl</a></div><div class="ttdeci">bool collide_fcl(const FCLCollisionObject *col_obj_ptr, int &amp;time_of_collision, CollisionRequestDataMultipleObstacles &amp;reqData) const</div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__checker_8cc_source.html#l00314">fcl_collision_checker.cc:314</a></div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker_html_a05728517e6bead9a3cf3ca65df2e6870"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#a05728517e6bead9a3cf3ca65df2e6870">collision::solvers::solverFCL::FCLCollisionChecker::invalidateParentMap</a></div><div class="ttdeci">void invalidateParentMap(void)</div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__checker_8cc_source.html#l00023">fcl_collision_checker.cc:23</a></div></div>
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